仿生工程学报(英文版)
倣生工程學報(英文版)
방생공정학보(영문판)
JOURNAL OF BIONICS ENGINEERING
2007年
4期
209-215
,共7页
mackerel-mimicking robot%optimal control%trajectory tracking
A robotic fish, BASEMACK1, is designed and fabricated by mimicking the shape of a live mackerel. Three DC servo-motors are serially linked together and actuated to mimic the mackerel's Carangiform motion. Hydrodynamic characteristics of a fish-mimetic test model are experimentally identified and utilized in order to numerically simulate fish swimming.The discrete set of kinematic and dynamic parameters are obtained by considering required horizontal and lateral forces and minimum energy consumption. Using the optimized parameter set, optimal control of the robot is studied.
